Enhancement of mechanical strength, computational power, and heat management for fieldwork humanoid robots
Enhancement of mechanical strength, computational power, and heat management for fieldwork humanoid robots
复制标题
增强野外作业人形机器人的机械强度、计算能力和热管理
DOI：
10.1109/humanoids.2016.7803363
复制
发表时间：
2016
期刊：
影响因子：
--
通讯作者：
Yoshihiko Nakamura
中科院分区：
文献类型：
--
作者：
H. Kaminaga;Tianyi Ko;Satoshi Yorita;Shunsuke Sato;R. Masumura;M. Komagata;T. Ishikawa;Taira Miyatake;Yoshihiko Nakamura
机器人需要获得高功率和鲁棒性，以便在灾难现场等恶劣环境中使用。提出了一种具有鲁棒性的仿人机器人的设计方法。采用电液致动器，以提供反向驱动能力和机械鲁棒性。连接结构中采用并串混合机构及其保护机构，以提高结构强度。利用单片机和FPGA实现了对电机的快速控制和对大量传感器的传感数据的采集。为了保证机器人在高负载下的工作性能，提高机器人的可靠性，设计了冷却系统。报道了一种灾难响应类人机器人的鲁棒机器人系统的研制。
Robots need to gain high power and robustness for them to be used in hostile environments such as disaster site. In this paper, design methodology of a humanoid robot with robustness is proposed. Electro-Hydrostatic Actuators are adopted to provide backdrivability and mechanical robustness. Parallel-serial hybrid mechanisms and its protection mechanisms are used in joint structure to enhance structural strength. MCU and FPGA are used to realize fast motor control and acquisition of sensory data from large number of sensors. Cooling system was developed to ensure performance under high load and enhance reliability of the robot. Development of robust robot system of a disaster response humanoid robot is reported.
影响因子：
7.8
作者：
M. Okada;Yoshihiko Nakamura
通讯作者：
M. Okada;Yoshihiko Nakamura
面向高机动性的微型拟人机器人的架构设计
DOI：
--
发表时间：
2005
期刊：
IEEE/RSJ International Conference on Intelligent Robots and Systems
影响因子：
--
作者：
Tomomichi Sugihara;Kou Yamamoto;Yoshihiko Nakamura
通讯作者：
Yoshihiko Nakamura